class Agent:
def __init__(self,
load_checkpoint,
checkpoint_file,
env,
n_states,
n_actions,
mem_size=10**6,
batch_size=256,
n_hid1=256,
n_hid2=256,
lr=3e-4,
gamma=0.99,
tau=5e-3,
reward_scale=2):
self.load_checkpoint = load_checkpoint
self.max_action = float(env.action_space.high[0])
self.low_action = float(env.action_space.low[0])
self.batch_size = batch_size
self.gamma = gamma
self.tau = tau
self.reward_scale = reward_scale
self.memory_counter = 0
self.memory = ReplayMemory(mem_size, n_states, n_actions)
self.actor = ActorNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
self.max_action,
lr,
checkpoint_file,
name='_actor')
self.critic_1 = CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr,
checkpoint_file,
name='_crtic1')
self.critic_2 = CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr,
checkpoint_file,
name='_crtic2')
self.value_net = ValueNetwork(n_states,
n_hid1,
n_hid2,
lr,
checkpoint_file,
name='_value')
self.target_value_net = ValueNetwork(n_states,
n_hid1,
n_hid2,
lr,
checkpoint_file,
name='_value_target')
# tau=1 performs an exact copy of the networks to the respective targets
# self.update_network_parameters(tau=1)
self.update_network_parameters(self.value_net,
self.target_value_net,
tau=1)
# self.update_network_parameters_phil(tau=1)
def store_transition(self, obs, action, reward, obs_, done):
self.memory.store_transition(obs, action, reward, obs_, done)
def sample_transitions(self):
state_batch, action_batch, reward_batch, new_state_batch, done_batch = self.memory.sample_buffer(
self.batch_size)
# no need to care about the device, it is the same for all class objects (cuda or cpu is the same despite the class)
state_batch = torch.tensor(state_batch,
dtype=torch.float).to(self.actor.device)
action_batch = torch.tensor(action_batch,
dtype=torch.float).to(self.actor.device)
reward_batch = torch.tensor(reward_batch,
dtype=torch.float).to(self.actor.device)
new_state_batch = torch.tensor(new_state_batch,
dtype=torch.float).to(self.actor.device)
done_batch = torch.tensor(done_batch).to(self.actor.device)
return state_batch, action_batch, reward_batch, new_state_batch, done_batch
def update_network_parameters(self, network, target_network, tau=None):
for par, target_par in zip(network.parameters(),
target_network.parameters()):
target_par.data.copy_(tau * par.data + (1 - tau) * target_par.data)
def choose_action(self, obs):
obs = torch.tensor([obs], dtype=torch.float).to(self.actor.device)
actions, _ = self.actor.sample_normal(obs, reparametrize=False)
return actions.cpu().detach().numpy()[0]
def learn_phil(self):
if self.memory.mem_counter < self.batch_size:
return
state, action, reward, new_state, done = \
self.memory.sample_buffer(self.batch_size)
reward = torch.tensor(reward,
dtype=torch.float).to(self.critic_1.device)
done = torch.tensor(done).to(self.critic_1.device)
state_ = torch.tensor(new_state,
dtype=torch.float).to(self.critic_1.device)
state = torch.tensor(state, dtype=torch.float).to(self.critic_1.device)
action = torch.tensor(action,
dtype=torch.float).to(self.critic_1.device)
value = self.value_net(state).view(-1)
value_ = self.target_value_net(state_).view(-1)
value_[done] = 0.0
actions, log_probs = self.actor.sample_normal(state,
reparametrize=False)
# actions, log_probs = self.actor.sample_mvnormal(state, reparameterize=False)
log_probs = log_probs.view(-1)
q1_new_policy = self.critic_1.forward(state, actions)
q2_new_policy = self.critic_2.forward(state, actions)
critic_value = torch.min(q1_new_policy, q2_new_policy)
critic_value = critic_value.view(-1)
self.value_net.optimizer.zero_grad()
value_target = critic_value - log_probs
value_loss = 0.5 * (F.mse_loss(value, value_target))
value_loss.backward(retain_graph=True)
self.value_net.optimizer.step()
actions, log_probs = self.actor.sample_normal(state,
reparametrize=True)
# actions, log_probs = self.actor.sample_mvnormal(state, reparameterize=False)
log_probs = log_probs.view(-1)
q1_new_policy = self.critic_1.forward(state, actions)
q2_new_policy = self.critic_2.forward(state, actions)
critic_value = torch.min(q1_new_policy, q2_new_policy)
critic_value = critic_value.view(-1)
actor_loss = log_probs - critic_value
actor_loss = torch.mean(actor_loss)
self.actor.optimizer.zero_grad()
actor_loss.backward(retain_graph=True)
self.actor.optimizer.step()
self.critic_1.optimizer.zero_grad()
self.critic_2.optimizer.zero_grad()
q_hat = self.reward_scale * reward + self.gamma * value_
q1_old_policy = self.critic_1.forward(state, action).view(-1)
q2_old_policy = self.critic_2.forward(state, action).view(-1)
critic_1_loss = 0.5 * F.mse_loss(q1_old_policy, q_hat)
critic_2_loss = 0.5 * F.mse_loss(q2_old_policy, q_hat)
critic_loss = critic_1_loss + critic_2_loss
critic_loss.backward()
self.critic_1.optimizer.step()
self.critic_2.optimizer.step()
self.update_network_parameters(self.value_net, self.target_value_net,
self.tau)
# self.update_network_parameters_phil()
def learn(self):
if self.memory.mem_counter < self.batch_size:
return
state_batch, action_batch, reward_batch, new_state_batch, done_batch = self.sample_transitions(
)
# state_batch, action_batch, reward_batch, new_state_batch, done_batch = \
# self.memory.sample_buffer(self.batch_size)
#
# reward_batch = torch.tensor(reward_batch, dtype=torch.float).to(self.critic_1.device)
# done_batch = torch.tensor(done_batch).to(self.critic_1.device)
# new_state_batch = torch.tensor(new_state_batch, dtype=torch.float).to(self.critic_1.device)
# state_batch = torch.tensor(state_batch, dtype=torch.float).to(self.critic_1.device)
# action_batch = torch.tensor(action_batch, dtype=torch.float).to(self.critic_1.device)
'''Compute Value Network loss'''
self.value_net.optimizer.zero_grad()
val = self.value_net(state_batch).view(-1)
val_ = self.target_value_net(new_state_batch).view(-1)
val_[done_batch] = 0.0
actions, log_probs = self.actor.sample_normal(state_batch,
reparametrize=False)
log_probs = log_probs.view(-1)
q1 = self.critic_1(state_batch, actions) # action_batch)
q2 = self.critic_1(state_batch, actions) # action_batch)
q = torch.min(q1, q2).view(-1)
value_target = q - log_probs
value_loss = 0.5 * F.mse_loss(val, value_target)
value_loss.backward(retain_graph=True)
self.value_net.optimizer.step()
# val = val - q + log_prob
'''Compute Actor loss'''
self.actor.optimizer.zero_grad()
# here we need to reparametrize and thus use rsample to make the distribution differentiable
# because the log prob of the chosen action will be part of our loss.
actions, log_probs = self.actor.sample_normal(state_batch,
reparametrize=True)
log_probs = log_probs.view(-1)
q1 = self.critic_1(state_batch, actions)
q2 = self.critic_2(state_batch, actions)
q = torch.min(q1, q2).view(-1)
actor_loss = log_probs - q
actor_loss = torch.mean(actor_loss)
actor_loss.backward(retain_graph=True)
self.actor.optimizer.step()
'''Compute Critic loss'''
self.critic_1.optimizer.zero_grad()
self.critic_2.optimizer.zero_grad()
val_ = self.target_value_net(new_state_batch).view(
-1) # value for the critic update
val_[done_batch] = 0.0
q_hat = self.reward_scale * reward_batch + self.gamma * val_
q1_old_policy = self.critic_1(state_batch, action_batch).view(-1)
q2_old_policy = self.critic_2(state_batch, action_batch).view(-1)
critic_1_loss = 0.5 * F.mse_loss(q1_old_policy, q_hat)
critic_2_loss = 0.5 * F.mse_loss(q2_old_policy, q_hat)
critic_loss = critic_1_loss + critic_2_loss
critic_loss.backward()
self.critic_1.optimizer.step()
self.critic_2.optimizer.step()
self.update_network_parameters(self.value_net, self.target_value_net,
self.tau)
# self.update_network_parameters_phil()
def save_models(self):
self.actor.save_checkpoint()
self.critic_1.save_checkpoint()
self.critic_2.save_checkpoint()
self.value_net.save_checkpoint()
self.target_value_net.save_checkpoint()
def load_models(self):
self.actor.load_checkpoint()
self.critic_1.load_checkpoint()
self.critic_2.load_checkpoint()
self.value_net.load_checkpoint()
self.target_value_net.load_checkpoint()
def update_network_parameters_phil(self, tau=None):
if tau is None:
tau = self.tau
target_value_params = self.target_value_net.named_parameters()
value_params = self.value_net.named_parameters()
target_value_state_dict = dict(target_value_params)
value_state_dict = dict(value_params)
for name in value_state_dict:
value_state_dict[name] = tau*value_state_dict[name].clone() + \
(1-tau)*target_value_state_dict[name].clone()
self.target_value_net.load_state_dict(value_state_dict)
class Agent():
def __init__(self,
load_checkpoint,
checkpoint_file,
env,
n_states,
n_actions,
update_actor_interval=2,
warmup=1000,
mem_size=10**6,
batch_size=100,
n_hid1=400,
n_hid2=300,
lr_alpha=1e-3,
lr_beta=1e-3,
gamma=0.99,
tau=5e-3,
noise_mean=0,
noise_sigma=0.1):
self.load_checkpoint = load_checkpoint
self.checkpoint_file = checkpoint_file
# needed for clamping in the learn function
self.env = env
self.max_action = float(env.action_space.high[0])
self.low_action = float(env.action_space.low[0])
self.n_actions = n_actions
# to keep track of how often we call "learn" function, for the actor network
self.learn_step_counter = 0
# to handle countdown to the end of the warmup period, incremented every time we call an action
self.time_step = 0
self.update_actor_interval = update_actor_interval
self.warmup = warmup
self.gamma = gamma
self.tau = tau
self.batch_size = batch_size
self.noise_mean = noise_mean
self.noise_sigma = noise_sigma
self.actor = TD3ActorNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr_alpha,
checkpoint_file,
name='actor')
self.target_actor = TD3ActorNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr_alpha,
checkpoint_file,
name='target_actor')
self.critic_1 = TD3CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr_beta,
checkpoint_file,
name='critic_1')
self.critic_2 = TD3CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr_beta,
checkpoint_file,
name='critic_2')
self.target_critic_1 = TD3CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr_beta,
checkpoint_file,
name='target_critic_1')
self.target_critic_2 = TD3CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
lr_beta,
checkpoint_file,
name='target_critic_2')
self.memory = ReplayMemory(mem_size, n_states, n_actions)
# tau=1 perform an exact copy of the networks to the respective targets
# self.update_network_parameters(tau=1)
self.update_network_parameters(self.actor, self.target_actor, tau=1)
self.update_network_parameters(self.critic_1,
self.target_critic_1,
tau=1)
self.update_network_parameters(self.critic_2,
self.target_critic_2,
tau=1)
def choose_action(self, obs):
if self.time_step < self.warmup:
self.time_step += 1
action = torch.tensor(self.env.action_space.sample())
else:
obs = torch.tensor(obs, dtype=torch.float).to(self.actor.device)
action = self.actor(obs)
# exploratory noise, scaled wrt action scale (max_action)
noise = torch.tensor(
np.random.normal(self.noise_mean,
self.noise_sigma * self.max_action,
size=self.n_actions)).to(self.actor.device)
action += noise
action = torch.clamp(action, self.low_action, self.max_action)
return action.cpu().detach().numpy()
def choose_action_eval(self, obs):
obs = torch.tensor(obs, dtype=torch.float).to(self.actor.device)
action = self.actor(obs)
action = torch.clamp(action, self.low_action, self.max_action)
return action.cpu().detach().numpy()
def store_transition(self, obs, action, reward, obs_, done):
self.memory.store_transition(obs, action, reward, obs_, done)
def sample_transitions(self):
state_batch, action_batch, reward_batch, new_state_batch, done_batch = self.memory.sample_buffer(
self.batch_size)
# no need to care about the device, it is the same for all class objects (cuda or cpu is the same despite the class)
state_batch = torch.tensor(state_batch,
dtype=torch.float).to(self.actor.device)
action_batch = torch.tensor(action_batch,
dtype=torch.float).to(self.actor.device)
reward_batch = torch.tensor(reward_batch,
dtype=torch.float).to(self.actor.device)
new_state_batch = torch.tensor(new_state_batch,
dtype=torch.float).to(self.actor.device)
done_batch = torch.tensor(done_batch).to(self.actor.device)
return state_batch, action_batch, reward_batch, new_state_batch, done_batch
def __copy_param(self, net_param_1, net_param_2, tau):
# a.copy_(b) reads content from b and copy it to a
for par, target_par in zip(net_param_1, net_param_2):
#with torch.no_grad():
val_to_copy = tau * par.weight + (1 - tau) * target_par.weight
target_par.weight.copy_(val_to_copy)
if target_par.bias is not None:
val_to_copy = tau * par.bias + (1 - tau) * target_par.bias
target_par.bias.copy_(val_to_copy)
def update_network_parameters(self, network, target_network, tau=None):
for par, target_par in zip(network.parameters(),
target_network.parameters()):
target_par.data.copy_(tau * par.data + (1 - tau) * target_par.data)
#
# # TODO: Controlla equivalenza con metodo Phil
# # during the class initialization we call this method with tau=1, to perform an exact copy of the nets to targets
# # then when we call this without specifying tau, we use the field stored
# if tau is None:
# tau = self.tau
#
# actor_params = self.actor.children()
# target_actor_params = self.target_actor.children()
# self.__copy_param(actor_params, target_actor_params, tau)
#
# critic_params1 = self.critic_1.children()
# target_critic_1_params = self.target_critic_1.children()
# self.__copy_param(critic_params1, target_critic_1_params, tau)
#
# critic_params2 = self.critic_2.children()
# target_critic_2_params = self.target_critic_2.children()
# self.__copy_param(critic_params2, target_critic_2_params, tau)
def learn(self):
self.learn_step_counter += 1
# deal with the situation in which we still not have filled the memory to batch size
if self.memory.mem_counter < self.batch_size:
return
state_batch, action_batch, reward_batch, new_state_batch, done_batch = self.sample_transitions(
)
# +- 0.5 as per paper. To be tested if min and max actions are not equal (e.g. -2 and 1)
noise = torch.tensor(
np.clip(
np.random.normal(self.noise_mean, 0.2, size=self.n_actions),
-0.5, 0.5)).to(self.actor.device)
target_next_action = torch.clamp(
self.target_actor(new_state_batch) + noise, self.low_action,
self.max_action)
target_q1_ = self.target_critic_1(new_state_batch, target_next_action)
target_q2_ = self.target_critic_1(new_state_batch, target_next_action)
target_q_ = torch.min(
target_q1_,
target_q2_) # take the min q_vale for every element in the batch
target_q_[done_batch] = 0.0
target = target_q_.view(-1) # probably not needed
target = reward_batch + self.gamma * target #_q
target = target.view(self.batch_size, 1) # probably not needed
q_val1 = self.critic_1(state_batch, action_batch)
q_val2 = self.critic_1(state_batch, action_batch)
critic_loss1 = F.mse_loss(q_val1, target)
critic_loss2 = F.mse_loss(q_val2, target)
critic_loss = critic_loss1 + critic_loss2
self.critic_1.optimizer.zero_grad()
self.critic_2.optimizer.zero_grad()
critic_loss.backward()
#critic_loss1.backward()
#critic_loss2.backward()
self.critic_1.optimizer.step()
self.critic_2.optimizer.step()
if self.learn_step_counter % self.update_actor_interval:
action = self.actor(state_batch)
# compute actor loss proportional to the estimated value from q1 given state, action pairs, where the action
# is recomputed using the new policy
actor_loss = -torch.mean(self.critic_1(state_batch, action))
self.actor.optimizer.zero_grad()
actor_loss.backward()
self.actor.optimizer.step()
self.update_network_parameters(self.actor, self.target_actor,
self.tau)
self.update_network_parameters(self.critic_1, self.target_critic_1,
self.tau)
self.update_network_parameters(self.critic_2, self.target_critic_2,
self.tau)
def save_models(self):
self.actor.save_checkpoint()
self.target_actor.save_checkpoint()
self.critic_1.save_checkpoint()
self.critic_2.save_checkpoint()
self.target_critic_1.save_checkpoint()
self.target_critic_2.save_checkpoint()
def load_models(self):
self.actor.load_checkpoint()
self.target_actor.load_checkpoint()
self.critic_1.load_checkpoint()
self.critic_2.load_checkpoint()
self.target_critic_1.load_checkpoint()
self.target_critic_2.load_checkpoint()
class DDPGAgent():
def __init__(self,
load_checkpoint,
n_states,
n_actions,
checkpoint_file,
mem_size=10**6,
batch_size=64,
n_hid1=400,
n_hid2=300,
alpha=1e-4,
beta=1e-3,
gamma=0.99,
tau=0.99):
self.batch_size = batch_size
self.gamma = gamma
self.tau = tau
self.actor = ActorNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
alpha,
checkpoint_file,
name='actor')
self.critic = CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
beta,
checkpoint_file,
name='critic')
self.actor_target = ActorNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
alpha,
checkpoint_file,
name='actor_target')
self.critic_target = CriticNetwork(n_states,
n_actions,
n_hid1,
n_hid2,
beta,
checkpoint_file,
name='critic_target')
self.noise = OUActionNoise(mu=np.zeros(n_actions))
self.memory = ReplayMemory(mem_size, n_states, n_actions)
self.update_network_parameters_phil(tau=1)
if load_checkpoint:
self.actor.eval()
self.load_checkpoint = load_checkpoint
def reset_noise(self):
self.noise.reset()
def __copy_param(self, net_param_1, net_param_2, tau):
# a.copy_(b) reads content from b and copy it to a
for par, target_par in zip(net_param_1, net_param_2):
with torch.no_grad():
val_to_copy = tau * par.weight + (1 - tau) * target_par.weight
target_par.weight.copy_(val_to_copy)
if target_par.bias is not None:
val_to_copy = tau * par.bias + (1 - tau) * target_par.bias
target_par.bias.copy_(val_to_copy)
def update_network_parameters(self, tau=None):
# TODO: Controlla equivalenza con metodo Phil
# during the class initialization we call this method with tau=1, to perform an exact copy of the nets to targets
# then when we call this without specifying tau, we use the field stored
if tau is None:
tau = self.tau
actor_params = self.actor.children()
actor_target_params = self.actor_target.children()
self.__copy_param(actor_params, actor_target_params, tau)
critic_params = self.critic.children()
critic_target_params = self.critic_target.children()
self.__copy_param(critic_params, critic_target_params, tau)
def choose_action(self, obs):
# when using layer norm, we do not want to calculate statistics for the forward propagation. Not needed
# if using batchnorm or dropout
self.actor.eval()
obs = torch.tensor(obs, dtype=torch.float).to(self.actor.device)
# compute actions
mu = self.actor(obs)
# add some random noise for exploration
mu_prime = mu
if not self.load_checkpoint:
mu_prime = mu + torch.tensor(self.noise(), dtype=torch.float).to(
self.actor.device)
self.actor.train()
return mu_prime.cpu().detach().numpy()
def store_transitions(self, obs, action, reward, obs_, done):
self.memory.store_transition(obs, action, reward, obs_, done)
def sample_transitions(self):
state_batch, action_batch, reward_batch, new_state_batch, done_batch = self.memory.sample_buffer(
self.batch_size)
# no need to care about the device, it is the same for all class objects (cuda or cpu is the same despite the class)
state_batch = torch.tensor(state_batch,
dtype=torch.float).to(self.actor.device)
action_batch = torch.tensor(action_batch,
dtype=torch.float).to(self.actor.device)
reward_batch = torch.tensor(reward_batch,
dtype=torch.float).to(self.actor.device)
new_state_batch = torch.tensor(new_state_batch,
dtype=torch.float).to(self.actor.device)
done_batch = torch.tensor(done_batch).to(self.actor.device)
return state_batch, action_batch, reward_batch, new_state_batch, done_batch
def save_models(self):
self.actor.save_checkpoint()
self.actor_target.save_checkpoint()
self.critic.save_checkpoint()
self.critic_target.save_checkpoint()
def load_models(self):
self.actor.load_checkpoint()
self.actor_target.load_checkpoint()
self.critic.load_checkpoint()
self.critic_target.load_checkpoint()
def learn(self):
# deal with the situation in which we still not have filled the memory to batch size
if self.memory.mem_counter < self.batch_size:
return
state_batch, action_batch, reward_batch, new_state_batch, done_batch = self.sample_transitions(
)
''' compute actor_target actions and critic_target values, then use obtained values to compute target y_i '''
target_actions = self.actor_target(
new_state_batch
) # + torch.tensor(self.noise(), dtype=torch.float).to(self.actor.device)
target_critic_value_ = self.critic_target(new_state_batch,
target_actions)
# target_critic_value_next[done_batch==1] = 0.0 # if done_batch is integer valued
target_critic_value_[
done_batch] = 0.0 # if done_batch is bool -- see if it works this way
target_critic_value_ = target_critic_value_.view(
-1) # necessary for operations on matching shapes
target = reward_batch + self.gamma * target_critic_value_
target = target.view(self.batch_size, 1)
''' zero out gradients '''
self.actor.optimizer.zero_grad()
self.critic.optimizer.zero_grad()
''' compute critic loss '''
critic_value = self.critic(state_batch, action_batch)
critic_loss = F.mse_loss(target, critic_value)
''' compute actor loss'''
# cannot directly use critic value, because it is evaluating a certain (s,a) pair.
# The formula given in the paper - it appears that - wants to use critic to evaluate
# the actions produced by an updated actor, given the state
# actor_loss = torch.mean(critic_value)
actor_loss = -self.critic(state_batch, self.actor(state_batch))
actor_loss = torch.mean(actor_loss)
critic_loss.backward()
actor_loss.backward()
self.actor.optimizer.step()
self.critic.optimizer.step()
self.update_network_parameters_phil()
def __copy_params_phil(self, net_a, net_b, tau):
net_a_params = net_a.named_parameters()
net_b_params = net_b.named_parameters()
net_a_state_dict = dict(net_a_params)
net_b_state_dict = dict(net_b_params)
for name in net_a_state_dict:
net_a_state_dict[name] = tau * net_a_state_dict[name].clone() + (
1 - tau) * net_b_state_dict[name].clone()
return net_a_state_dict
def update_network_parameters_phil(self, tau=None):
if tau is None:
tau = self.tau
updated_actor_state_dict = self.__copy_params_phil(
self.actor, self.actor_target, tau)
updated_critic_state_dict = self.__copy_params_phil(
self.critic, self.critic_target, tau)
self.actor_target.load_state_dict(updated_actor_state_dict)
self.critic_target.load_state_dict(updated_critic_state_dict)